Synthesis and Simulation of Biotechnical Position-Force Control System of a Robot Manipulator with Reconfigurable Structure

被引：3

作者：

Rostova, Ekaterina N. ^{[1
]}

Rostov, Nikolay V. ^{[2
]}

Sobolevsky, Vladislav A. ^{[1
]}

机构：

[1] Russian Acad Sci, St Petersburg Inst Informat & Automat, 14th Line VO 39, St Petersburg 199178, Russia

[2] Peter Great St Petersburg Polytech Univ, Polytech Skaya Str 29, St Petersburg 195251, Russia

来源：

IFAC PAPERSONLINE | 2019年 / 52卷 / 13期

基金：

俄罗斯基础研究基金会;

关键词：

robot-manipulator; biotechnical system; human operator; semi-automatic control system; position-force control; synthesis of algorithms; computer simulation;

D O I：

10.1016/j.ifacol.2019.11.342

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The synthesis of open-loop and closed-loop position and force control algorithms for a semiautomatic control system of a robot-manipulator has been performed. Computer models have been developed for a position-force control system with reconfigurable structure for a robot performing standard operations set by a human operator with a 3-degree-of-freedom handle Animated computer simulation of dynamic processes in a system with different control algorithms has been performed and their precision characteristics have been evaluated. Some practical recommendations are given on the application of the achieved results for the development of training simulators for human supervisors of robot control systems. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：1097 / 1101

页数：5

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